Cleaning device-based safety protection method and apparatus, storage medium, cleaning device, and computer program product

Abstract

The present disclosure provides a cleaning device-based safety protection method. The method comprises: when a cleaning device is executing a cleaning task, determining whether the cleaning device is picked up by a user; and when it is determined that the cleaning device is picked up by the user, executing a safety protection operation.

Description

Safety protection method and device based on cleaning equipment, storage medium, cleaning equipment and computer program product

[0001] Cross-reference to Related Applications

[0002] The present disclosure claims priority to Chinese Patent Application No. 2024110374724, filed on July 30, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of cleaning equipment, and in particular, to a safety protection method and device based on cleaning equipment, a storage medium, a cleaning equipment and a computer program product. BACKGROUND

[0004] With the development of computer science and artificial intelligence technology, intelligent robot technology has gradually become a hot spot in the field of modern robot research. As one of the most practical intelligent robots, cleaning equipment can automatically complete the ground cleaning work.

[0005] Currently, during the execution of a cleaning task, the walking wheels and cleaning components of the cleaning equipment are in high-speed operation. If the user holds the cleaning equipment at this time (such as moving the position or changing the cleaning area due to obstacles), the high-speed operation of the walking wheels and cleaning components may scratch the user's hands, or wrap the user's sleeves or curtains, etc., which exists a safety hazard.

[0006] SUMMARY

[0007] The safety protection method and device based on cleaning equipment, a storage medium, a cleaning equipment and a computer program product are provided by utilizing one or more embodiments of the present disclosure, which solves the problem of safety hazard when the user holds the cleaning equipment in the related art.

[0008] In a first aspect, the present disclosure provides a safety protection method based on cleaning equipment, comprising: determining whether the cleaning equipment is held by a user in a case where the cleaning equipment is executing a cleaning task; and performing a safety protection operation in a case where it is determined that the cleaning equipment is held by the user.

[0009] In a second aspect, the present disclosure further provides a safety protection device based on cleaning equipment, comprising: a holding determination unit configured to determine whether the cleaning equipment is held by a user in a case where the cleaning equipment is executing a cleaning task; and a safety protection unit configured to perform a safety protection operation in a case where it is determined that the cleaning equipment is held by the user.

[0010] In a third aspect, the present disclosure provides a cleaning device, comprising a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the cleaning device-based security protection method provided in the first aspect of the present disclosure is implemented.

[0011] In a fourth aspect, the present disclosure provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the cleaning device-based security protection method provided in the first aspect of the present disclosure is implemented.

[0012] In a fifth aspect, the present disclosure provides a computer program product, comprising a computer program, and when the computer program is executed by a processor, the cleaning device-based security protection method provided in the first aspect of the present disclosure is implemented. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0014] FIG. 1 is a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure;

[0015] FIG. 2 is a flowchart of a cleaning device-based security protection method according to some embodiments of the present disclosure;

[0016] FIG. 3 is a flowchart of a cleaning device-based security protection method according to some embodiments of the present disclosure;

[0017] FIG. 4 is a functional module block diagram of a cleaning device-based security protection device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0018] In the following, the embodiments of the present disclosure will be described with reference to the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present disclosure. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0019] Various structural diagrams according to embodiments of the present disclosure are shown in the drawings. These diagrams are not drawn to scale in which certain details are shown exaggerated and others omitted for clarity of presentation and are merely meant as illustrative. The shapes and relative sizes of the various regions shown in the figures and their relative positions are meant only to be illustrative and not limiting. Actual shapes, relative sizes, and relative positions of regions / layers may vary based on manufacturing techniques and tolerances and design choices, and are intended to be within the scope of the present disclosure.

[0020] In the context of the present disclosure, when a layer / element is said to be located "on" another layer / element, it can be directly on the other layer / element, or there can be intervening layers / elements therebetween. In addition, if a layer / element is located "on" another layer / element in one orientation, it can be located "under" the other layer / element when the orientation is reversed.

[0021] The technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems will be described in detail below in the embodiments of some embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present disclosure will be described below with reference to the drawings.

[0022] Please refer to FIG. 1, a safety protection method based on a cleaning device is provided according to an embodiment of the present disclosure, which is applied to the cleaning device. As shown in FIG. 2, the cleaning device can include a housing 201, a walking wheel 202 arranged on the housing 201 for driving the cleaning device to move, and a cleaning assembly 203. The cleaning assembly 203 can include but is not limited to a dust suction port 204 and a rotatable cleaning mop brush 205. The dust suction port 204 is used for sucking dust on the ground and crushing garbage on the ground, and the rotatable cleaning mop brush 205 is used for sweeping garbage. The safety protection method based on the cleaning device includes steps S101-S103.

[0023] In step S101, it is determined whether the cleaning device is held by a user when the cleaning device is performing a cleaning task. If not, step S102 is performed; if yes, step S103 is performed.

[0024] In some examples, the cleaning equipment's memory can record the cleaning equipment's operating status identifier. For instance, when the cleaning equipment starts performing a cleaning task, the main controller refreshes the operating status identifier "1" recorded in the memory. The operating status identifier "1" indicates that the cleaning equipment is performing a cleaning task. When the cleaning equipment finishes performing a cleaning task, the main controller refreshes the operating status identifier "1" to the operating status identifier "0" to indicate that the cleaning equipment has finished performing the cleaning task. The main controller can retrieve the operating status identifier located in the memory every preset time interval (such as 1ms or 2ms). If it detects that the operating status identifier is "1", it confirms that the cleaning equipment is performing a cleaning task.

[0025] In other examples, the main controller of the cleaning equipment can also obtain the speed of the motor used to drive the cleaning component 203 of the cleaning equipment every preset time interval (such as 1ms or 2ms), and confirm that the cleaning equipment is performing a cleaning task if the speed is determined to be greater than the set speed threshold.

[0026] Understandably, when the cleaning equipment is performing a cleaning task, the high-speed rotating wheels 202 and cleaning components 203 may scratch the user's hands or get caught in the user's sleeves or curtains, posing a safety hazard. In this case, it is necessary to determine whether the cleaning equipment has been picked up by the user.

[0027] In step S102: Perform the cleaning task normally.

[0028] In step S103: If it is determined that the cleaning equipment has been picked up by the user, a safety protection operation is performed.

[0029] For example, the methods for performing security protection operations may include, but are not limited to, the following three:

[0030] The first method is to control the cleaning equipment to stop working. Understandably, when the cleaning equipment stops working, the rotation speed of the cleaning equipment's wheels 202 is zero, the operating speed of the cleaning components 203 is also zero, and the cleaning equipment's fan also stops running. This prevents the cleaning equipment from scratching the user's hands or getting caught in the user's sleeves or curtains, thus improving the safety of the cleaning equipment operation.

[0031] Secondly, the rotating speed of the traveling wheel 202 of the cleaning device for driving the cleaning device to move is reduced, and / or the operation speed of the cleaning assembly 203 of the cleaning device is reduced, and / or the operation power of the fan of the cleaning device is reduced. Understandably, in the case that the rotating speed of the traveling wheel 202 of the cleaning device, the operation speed of the cleaning assembly 203 of the cleaning device, and / or the operation power of the fan of the cleaning device are reduced, the probability that the cleaning device scratches the user's hands or gets into the user's sleeves or other objects such as curtains can be greatly reduced, and the safety of the operation of the cleaning device is improved.

[0032] Thirdly, an alarm operation is performed.

[0033] For example, the alarm operation can be a voice prompt "working, please pay attention to safety", or a vibration alarm prompt, or a buzzer alarm prompt, and the like. In this way, the user can be prompted that it is dangerous to hold the cleaning device, and the user can make corresponding actions (such as moving the position of the hands in contact with the cleaning device, putting down the cleaning device, or closing the working state of the cleaning device) according to the prompt, so that the safety of the operation of the cleaning device is improved.

[0034] It should be noted that the first way of performing the safety protection operation and the third way of performing the safety protection operation can be performed at the same time, and the second way of performing the safety protection operation and the third way of performing the safety protection operation can also be performed at the same time, which is not limited here.

[0035] In some embodiments, after performing the safety protection operation, the method provided by the embodiments of the present disclosure can further include: in the case that it is determined that the cleaning device is placed back to the ground, the safety protection operation is released; and / or in the case that a user-triggered safety protection release instruction is received, the safety protection operation is released.

[0036] In some embodiments, in the case that the distance between the cleaning device and the ground is determined to be lower than the set distance threshold, it is determined that the cleaning device is placed back to the ground, and at this time the safety protection operation is released, so that the cleaning device can work normally and the safety is high. In other embodiments, in the case that a user-triggered safety protection release instruction is received, it can be considered that the user has moved the hands to a safer position, or moved the cleaning device away from the curtains or other objects, or placed it back to the ground, and at this time the safety protection operation is released, and the safety is high. In some embodiments, the safety protection operation can also be released in the case that the cleaning device is detected to be placed back to the ground and a user-triggered safety protection release instruction is received.

[0037] In some embodiments, the safety protection operation can be implemented as but not limited to:

[0038] If the cleaning device is controlled to stop working previously, then the cleaning device is controlled to start working; or

[0039] If the rotation speed of the traveling wheel 202 for driving the cleaning device to move is reduced previously, and / or

[0040] If the operation speed of the cleaning assembly 203 of the cleaning device is reduced previously, then the rotation speed of the traveling wheel 202 for driving the cleaning device to move is restored, and / or

[0041] The operation speed of the cleaning assembly 203 of the cleaning device is restored; or

[0042] If the cleaning device is controlled to alarm previously, the alarm operation of the cleaning device is released.

[0043] In summary, the safety protection method based on the cleaning device provided by the embodiments of the present disclosure can determine whether the cleaning device is held by the user when the cleaning device is performing the cleaning task. It can be understood that when the cleaning device performing the cleaning task is held by the user, the high-speed rotating traveling wheel 202 and the cleaning assembly 203 may scratch the user's hands, or get entangled with the user's sleeves or curtains and other objects, which may cause safety hazards. Therefore, when it is determined that the cleaning device is held by the user, the safety protection operation is performed, so as to avoid the cleaning device from scratching the user's hands, or getting entangled with the user's sleeves or curtains and other objects, and improve the safety of the cleaning device operation.

[0044] As shown in FIG. 3, in some embodiments, step S101 can include steps S301-S303.

[0045] In step S301, the distance from the ground of the cleaning device is detected.

[0046] In some embodiments, the side of the cleaning device close to the ground is provided with one sampling point, and the side close to the ground is the side closest to the ground when the cleaning device is in the working state. The distance from the ground of the cleaning device can be detected at one sampling point.

[0047] In other embodiments, the side of the cleaning device close to the ground is provided with at least two sampling points, and the side close to the ground is the side closest to the ground when the cleaning device is in the working state. Thus, the distance from the ground of the cleaning device can be detected based on the at least two sampling points. For example, the side of the cleaning device close to the ground is provided with three sampling points, the distance from the ground detected by the first sampling point is distance A, the distance from the ground detected by the second sampling point is distance B, and the distance from the ground detected by the third sampling point is distance C. In some embodiments, the number of sampling points can also be four, five, or six, and the like, which is not limited herein.

[0048] In some embodiments, the manner of obtaining the ground distance of the cleaning device from the ground at each sampling point can be, but is not limited to, obtaining N ground sampling values for each sampling point in each time window, where N≥2 in some embodiments; determining the average of the N ground sampling values as the ground distance of the sampling point from the ground.

[0049] For example, in the case where the cleaning device is provided with 3 sampling points on the side close to the ground, in 500 ms (i.e. a time window), ground sampling values a1, a2 and a3 are obtained for sampling point A, respectively; ground sampling values b1, b2 and b3 are obtained for sampling point B, respectively; and ground sampling values c1, c2 and c3 are obtained for sampling point C, respectively, then the average of a1, a2 and a3 can be determined as the ground distance of sampling point A; the average of b1, b2 and b3 can be determined as the ground distance of sampling point A; and the average of c1, c2 and c3 can be determined as the ground distance of sampling point C.

[0050] In some embodiments, the time intervals between sampling values a1, a2 and a3, the time intervals between sampling values b1, b2 and b3, and the time intervals between sampling values c1, c2 and c3 can be 20 ms, 25 ms and 30 ms, etc., which are not limited herein.

[0051] In the above embodiments, each sampling point can be provided with a distance sensor 206 (i.e. provided with at least two distance sensors 206). Further, the ground distance of the sampling point from the ground can be collected based on the distance sensor 206 provided at each sampling point. In some embodiments, the distance sensor 206 can be a Time Of Flight (TOF) sensor (i.e. a Cliff sensor). The TOF sensor can determine the distance between the ground and the sampling point based on the principle of light flight time, by emitting a measurement light of a predetermined wavelength, and according to the time length from the emission of the measurement light to the reflection of the measurement light from the ground.

[0052] In some embodiments, the at least two distance sensors 206 are arranged along the edge of the side of the housing 201 close to the ground. For example, as shown in FIG. 2, the at least two distance sensors 206 (which can include 5 distance sensors 206 in FIG. 2) are arranged along the edge of the side of the housing 201 close to the ground. In some embodiments, when the number of distance sensors 206 is greater than or equal to 3, the at least two distance sensors 206 are arranged at equal intervals, so that the reliability of the ground distance collected by each distance sensor 206 is higher.

[0053] In some embodiments, the at least two distance sensors 206 are not coincident with the cleaning assembly 203. As shown in FIG. 2, the walking wheels 202 are arranged at positions along the approximate centerline of the side of the housing 201 close to the ground, and all the distance sensors 206 and the cleaning assembly 203 are arranged on the two sides of the walking wheels 202, respectively. In this way, the distance sensors 206 and the cleaning assembly 203 can be made not to be coincident. In this way, the garbage attached to the cleaning assembly 203 or the cleaning assembly 203 itself can not block the distance sensors 206 when the cleaning assembly 203 is working, and the collection of the distance from the ground can not be affected.

[0054] In step S302, it is determined whether the distance from the ground is greater than a set distance threshold. If yes, step S303 is performed; if no, step S102 is performed.

[0055] In some embodiments, the set distance threshold can be, but is not limited to, 40 mm, 50 mm, or 70 mm, etc., which is not limited herein.

[0056] In step S303, it is determined that the cleaning device is held by the user.

[0057] In some embodiments, when the sampling point is one, the distance from the ground collected at the sampling point is greater than the set distance threshold, and it is determined that the cleaning device is held by the user.

[0058] In some other embodiments, when the side of the cleaning device close to the ground includes at least two sampling points, it is determined that the cleaning device is held by the user when the distance from the ground of all the sampling points is greater than the preset distance threshold. For example, when the side of the cleaning device close to the ground is provided with three sampling points, and the distances from the ground collected by the three sampling points are distance A, distance B, and distance C, respectively, and distance A, distance B, and distance C are all greater than the preset distance threshold, it is determined that the cleaning device is held by the user. In this way, the accuracy of determining that the cleaning device is held by the user is higher.

[0059] In some other embodiments, a plurality of touch sensors are arranged along the edge of the housing 201 of the cleaning device. When at least one touch sensor is touched by the user to generate a touch signal, it is determined that the cleaning device is held by the user.

[0060] Please refer to Figure 4. According to an embodiment of this disclosure, a safety protection device 400 based on cleaning equipment is also provided. It should be noted that the basic principle and technical effects of the safety protection device 400 based on cleaning equipment provided in this disclosure are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this disclosure can be referred to the corresponding content in the above embodiments. The safety protection device 400 based on cleaning equipment includes a pick-up determination unit 401 and a safety protection unit 402. In some embodiments, the pick-up determination unit 401 is used to determine whether the cleaning equipment is being picked up by the user while the cleaning equipment is performing a cleaning task.

[0061] In some implementations, the pick-up determination unit 401 may include:

[0062] The data acquisition module is used to detect the distance between the cleaning equipment and the ground.

[0063] The pick-up detection module is used to determine if the cleaning equipment has been picked up by the user when the distance to the ground is greater than a set distance threshold.

[0064] In some implementations, at least two sampling points are provided on the side of the cleaning device closest to the ground. In some implementations, the side closest to the ground is the side of the cleaning device that is closest to the ground when it is in operation. A data acquisition module is used to acquire the ground distance of each sampling point. A pick-up determination module is used to determine that the cleaning device has been picked up by the user if the ground distance of all sampling points is greater than a preset distance threshold.

[0065] In some implementations, each sampling point is equipped with a distance sensor 206, and the distance between the sampling point and the ground is collected based on the distance sensor 206 at each sampling point. In this way, the data acquisition module can obtain the distance between the sampling point and the ground.

[0066] It should be noted that the aforementioned data acquisition module is further used to acquire N ground-level sampling values ​​for each sampling point within each time window; in some embodiments, N ≥ 2. The average value of the N ground-level sampling values ​​is determined as the ground-level distance between the sampling point and the ground. The safety protection module is used to perform safety protection operations when it is determined that the cleaning equipment has been picked up by the user.

[0067] In some embodiments, the cleaning device may include a housing 201, with at least two distance sensors 206 disposed along the edge of the housing 201 on the side closest to the ground.

[0068] In some embodiments, the cleaning device, when in the working state, the side of the shell 201 close to the ground is further provided with a cleaning assembly 203, and the at least two distance sensors 206 are not coincident with the cleaning assembly 203.

[0069] In some embodiments, each distance sensor 206 is a TOF sensor.

[0070] In some embodiments, the cleaning device can include a shell 201, and a plurality of touch sensors are arranged at intervals along the edge of the shell 201. The holding determination unit 401 can also be used to determine that the cleaning device is held by the user, in a case where it is identified that at least one touch sensor is touched by the user to generate a touch signal.

[0071] In some embodiments, the safety protection unit 402 is configured to

[0072] control the cleaning device to stop working; or

[0073] reduce the rotation speed of the traveling wheel 202 of the cleaning device for driving the cleaning device to move, and / or

[0074] reduce the operating speed of the cleaning assembly 203 of the cleaning device; and / or

[0075] reduce the operating power of the fan of the cleaning device; and / or

[0076] perform an alarm operation.

[0077] In some embodiments, the apparatus 400 provided by the embodiments of the present disclosure can further include a safety protection release unit configured to release the safety protection operation in a case where it is determined that the cleaning device is placed back to the ground; and / or

[0078] release the safety protection operation in a case where a user-triggered safety protection release instruction is received.

[0079] As can be seen from the above, the embodiments of the present disclosure provide a safety protection method based on a cleaning device, including:

[0080] determining whether the cleaning device is held by the user in a case where the cleaning device is performing a cleaning task;

[0081] performing a safety protection operation in a case where it is determined that the cleaning device is held by the user.

[0082] In an optional embodiment, determining whether the cleaning device is held by the user includes:

[0083] detecting the distance from the ground of the cleaning device to the ground;

[0084] determining that the cleaning device is held by the user in a case where the distance from the ground is greater than a set distance threshold.

[0085] In an optional implementation, the cleaning device is provided with at least two sampling points. Exemplarily, the at least two sampling points are arranged on a side of the cleaning device close to the ground in a working state of the cleaning device. Specifically, the distance between the cleaning device and the ground is detected, including: obtaining the distance between each sampling point and the ground;

[0086] In a case where the distance between the cleaning device and the ground is greater than a set distance threshold, it is determined that the cleaning device is held by the user, including: in a case where the distance between all sampling points and the ground is greater than a preset distance threshold, it is determined that the cleaning device is held by the user.

[0087] In an optional implementation, the distance between each sampling point and the ground is obtained, including:

[0088] In each time window, for each sampling point, N distance sampling values are obtained, where N≥2;

[0089] The average of the N distance sampling values is determined as the distance between the sampling point and the ground.

[0090] In an optional implementation, each sampling point is provided with a distance sensor, and the distance between the sampling point and the ground is obtained, including:

[0091] The distance between the sampling point and the ground is collected based on the distance sensor arranged at each sampling point.

[0092] In an optional implementation, the cleaning device includes a housing, and the at least two distance sensors are arranged along the edge of the side of the housing close to the ground.

[0093] In an optional implementation, the side of the housing close to the ground of the cleaning device in a working state is further provided with a cleaning assembly, and the at least two distance sensors do not overlap with the cleaning assembly.

[0094] In an optional implementation, each distance sensor is a TOF sensor.

[0095] In an optional implementation, the cleaning device includes a housing, and a plurality of touch sensors are arranged at intervals along the edge of the housing, and determining whether the cleaning device is held by the user includes:

[0096] In a case where at least one touch sensor is identified to be touched by the user to generate a touch signal, it is determined that the cleaning device is held by the user.

[0097] In an optional implementation, the safety protection operation is performed, including:

[0098] stopping the cleaning device from working; or

[0099] reducing the rotation speed of a traveling wheel of the cleaning device for driving the cleaning device to move, and / or

[0100] reducing the operation speed of a cleaning assembly of the cleaning device, and / or

[0101] reducing the operation power of a fan of the cleaning device; and / or

[0102] performing an alarm operation.

[0103] In an optional implementation, after performing the safety protection operation, the method further includes:

[0104] in a case where it is determined that the cleaning device is placed back to the ground, releasing the safety protection operation; and / or

[0105] in a case where a user-triggered safety protection release instruction is received, releasing the safety protection operation.

[0106] In addition, the embodiments of the present disclosure further provide a safety protection device based on a cleaning device, comprising:

[0107] a holding determination unit configured to determine whether the cleaning device is held by a user in a case where the cleaning device is performing a cleaning task;

[0108] a safety protection unit configured to perform a safety protection operation in a case where it is determined that the cleaning device is held by the user.

[0109] In addition, the embodiments of the present disclosure further provide a cleaning device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor implements the safety protection method based on a cleaning device provided in the first aspect of the present disclosure when executing the computer program.

[0110] In addition, the embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the safety protection method based on a cleaning device provided in the first aspect of the present disclosure.

[0111] In addition, the embodiments of the present disclosure further provide a computer program product, comprising a computer program, and the computer program is executed by a processor to implement the safety protection method based on a cleaning device provided in the embodiments of the present disclosure.

[0112] Understandably, the method, device, storage medium, cleaning device and computer program product provided by the embodiments of the present disclosure can determine whether the cleaning device is held by the user when the cleaning device is performing a cleaning task. Understandably, when the cleaning device performing the cleaning task is held by the user, the high-speed running wheels and the cleaning assembly may scratch the user's hands, or get entangled with the user's sleeves or curtains and other objects, which may cause safety hazards. Therefore, when it is determined that the cleaning device is held by the user, a safety protection operation is performed, so that the cleaning device can avoid scratching the user's hands, or getting entangled with the user's sleeves or curtains and other objects, and the safety of the cleaning device operation is improved.

[0113] The embodiments of the present disclosure also provide a cleaning device. As shown in FIG. 2, the cleaning device can include a housing 201, a running wheel 202 arranged on the housing 201 for driving the cleaning device to move, and a cleaning assembly 203. The cleaning assembly 203 can include but is not limited to a dust suction port 204 and a rotatable cleaning mop brush 205. The dust suction port 204 is used to suck dust on the ground and crush garbage on the ground, and the rotatable cleaning mop brush 205 is used to clean the garbage. At the hardware level, the cleaning device can include a processor, and optionally, can also include an internal bus, a network interface, and a memory. In some embodiments, the memory can include a memory such as a high-speed random access memory (RAM), and can also include a non-volatile memory such as at least one disk memory. In some embodiments, the cleaning device can also include other hardware required by the business.

[0114] The processor, the network interface and the memory can be connected to each other through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0115] The memory is used to store programs. In some embodiments, the program can include program codes, and the program codes can include computer operation instructions. The memory can include a memory and a non-volatile memory, and provide instructions and data to the processor.

[0116] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs, and forms a safety protection device for the cleaning equipment at a logical level. The processor executes the program stored in the memory, and is specifically configured to execute the safety protection method for the cleaning equipment provided in the above embodiments.

[0117] The method executed by the safety protection device for the cleaning equipment disclosed in the above embodiment shown in FIG. 1 can be applied to a processor or implemented by the processor. The processor can be an integrated circuit chip with a processing capability of signals. In the implementation process, each step of the above method can be completed by integrated logic circuits of hardware in the processor or instructions in the form of software. The processor can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; or can be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Each method, step and logical block diagram disclosed in the present disclosure can be implemented or executed. The general processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the present disclosure can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register or other mature storage media in the art. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.

[0118] The cleaning equipment can also execute the safety protection method for the cleaning equipment shown in FIG. 1 and realize the function of the safety protection device for the cleaning equipment in the embodiment shown in FIG. 1, and the present disclosure will not be repeated here.

[0119] In some embodiments, in addition to the software implementation, the cleaning equipment of the present disclosure does not exclude other implementation manners, such as logic devices or a combination of software and hardware, etc. That is, the execution subject of the following processing flow is not limited to each logical unit, but can also be hardware or a logic device.

[0120] The embodiment of the present disclosure further provides a computer readable storage medium storing one or more programs, the one or more programs including instructions which, when executed by a portable cleaning device including a plurality of applications, enable the cleaning device to perform the safety protection method based on a cleaning device shown in FIG. 1.

[0121] Computer readable media includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition herein, computer readable media does not include transitory media such as modulated data signals and carriers.

[0122] In addition, the embodiment of the present disclosure further provides a computer program product, including a computer program which, when executed by a processor, implements the safety protection method based on a cleaning device shown in FIG. 1 of the present disclosure.

[0123] In the above description, the technical details such as the configuration of each layer are not described in detail. However, those skilled in the art should understand that the layers, regions and the like with the required shape can be formed by various technical means. In addition, those skilled in the art can also design methods that are not exactly the same as the methods described above in order to form the same structure. In addition, although each embodiment is described above, this does not mean that the measures in each embodiment cannot be used advantageously in combination.

[0124] Although the preferred embodiments of the present disclosure have been described, those skilled in the art can make further changes and modifications to the embodiments once they understand the basic inventive concept. Therefore, the appended claims are intended to include the preferred embodiments and all changes and modifications falling within the scope of the present disclosure.

[0125] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed embodiments without departing from the spirit or scope of the disclosure. Thus, it is intended that the present disclosure cover the modifications and variations of this disclosure provided they come within the scope of the appended claims and their equivalents.

Claims

1. A method for safety protection of a cleaning device, comprising: determining whether the cleaning device is held by a user when the cleaning device is performing a cleaning task; and performing a safety protection operation when it is determined that the cleaning device is held by the user. The determination of whether the cleaning device is held by the user comprises:

2. The method of claim 1, wherein, detecting a distance from the ground of the cleaning device to the ground; and determining that the cleaning device is held by the user when the distance from the ground is greater than a set distance threshold. The cleaning device is provided with at least two sampling points, and the detection of the distance from the ground of the cleaning device to the ground comprises:

3. The method of claim 2, wherein, obtaining the distance from the ground of each sampling point to the ground. The determination that the cleaning device is held by the user when the distance from the ground is greater than a set distance threshold comprises:

4. The method of claim 3, wherein, determining that the cleaning device is held by the user when the distance from the ground of all the sampling points is greater than a preset distance threshold. The obtaining of the distance from the ground of each sampling point to the ground comprises: obtaining N distance sampling values for each sampling point in each time window, wherein N≥2; and 5. The method of claim 3, wherein, determining an average value of the N distance sampling values as the distance from the ground of the sampling point. Each sampling point is provided with a distance sensor, and the obtaining of the distance from the ground of the sampling point to the ground comprises:

6. The method of claim 5, wherein, collecting the distance from the ground of the sampling point to the ground based on the distance sensor provided for each sampling point.

7. The method of claim 6, wherein, The cleaning device comprises a housing, and at least two distance sensors are arranged along an edge of a side of the housing close to the ground.

8. The method of claim 5, wherein, The side of the housing close to the ground is further provided with a cleaning assembly when the cleaning device is in a working state, and the at least two distance sensors do not overlap with the cleaning assembly.

9. The method of claim 3, wherein, Each distance sensor is a TOF sensor.

10. The method of claim 1, wherein, At least two sampling points are arranged on a side of the cleaning device close to the ground, wherein the side close to the ground is a side closest to the ground when the cleaning device is in a working state. A plurality of touch sensors are arranged at intervals along an edge of a housing of the cleaning device, and the determination of whether the cleaning device is held by the user comprises:

11. The method of claim 1, wherein, determining that the cleaning device is held by the user when at least one touch sensor is identified as being touched by the user to generate a touch signal. The performing of the safety protection operation comprises: controlling the cleaning device to stop working; or reducing a rotation speed of a walking wheel of the cleaning device for driving the cleaning device to move; and / or reducing an operating speed of a cleaning assembly of the cleaning device; and / or reducing an operating power of a fan of the cleaning device; and / or 12. The method of claim 1, wherein, performing an alarm operation. After the performing of the safety protection operation, the method further comprises: releasing the safety protection operation when it is determined that the cleaning device is placed back on the ground; and / or releasing the safety protection operation when a user-triggered release safety protection instruction is received. 13.A safety protection apparatus for a cleaning device, comprising: a holding determination unit configured to determine whether the cleaning device is held by a user when the cleaning device is performing a cleaning task. and A safety protection unit is configured to perform a safety protection operation when it is determined that the cleaning device is lifted by a user.

14. The apparatus of claim 13, wherein, The lifting determination unit is specifically configured to detect a distance from the ground of the cleaning device; and determine that the cleaning device is lifted by a user when the distance from the ground is greater than a set distance threshold.

15. The apparatus of claim 14, wherein, The cleaning device is provided with at least two sampling points, and the lifting determination unit comprises: a data acquisition module configured to acquire a distance from the ground of each sampling point; a lifting determination module configured to determine that the cleaning device is lifted by a user when the distance from the ground of all the sampling points is greater than a preset distance threshold.

16. The apparatus of claim 15, wherein, The data acquisition module is specifically configured to acquire, for each sampling point, N distance-from-ground sampling values within each time window, where N≥2; and determine an average value of the N distance-from-ground sampling values as the distance from the ground of the sampling point.

17. The apparatus of claim 15, wherein, Each sampling point is provided with a distance sensor, and the data acquisition module is specifically configured to acquire the distance from the ground of the sampling point based on the distance sensor provided for each sampling point.

18. The apparatus of claim 13, wherein, The cleaning device comprises a plurality of touch sensors arranged at intervals along an edge of a shell of the cleaning device, and the lifting determination unit is specifically configured to determine that the cleaning device is lifted by a user when at least one touch signal is generated by a touch of at least one touch sensor by a user.

19. The apparatus of claim 13, wherein, The safety protection unit is specifically configured to control the cleaning device to stop working; or reduce a rotation speed of a walking wheel of the cleaning device for driving the cleaning device to move; and / or reduce an operation speed of a cleaning assembly of the cleaning device; and / or reduce an operation power of a fan of the cleaning device; and / or perform an alarm operation.

20. The apparatus of claim 13, wherein, The apparatus further comprises: a safety protection release unit configured to release the safety protection operation when it is determined that the cleaning device is placed back on the ground; and / or release the safety protection operation when a user-triggered safety protection release instruction is received.

21. A cleaning device comprising a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of claims 1-11 are implemented.

22. A computer readable storage medium having stored thereon a computer program, wherein, The computer program is executed by the processor to implement the safety protection method of the cleaning device according to any one of claims 1-11.

23. A computer program product comprising a computer program, wherein the computer program is executed by the processor to implement the steps of the method according to any one of claims 1-11.

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